This task involves a Kuka LWR 4+ robot arm hitting a hockey puck with a stick such that the puck slides to the desired target position, following [1]}, [2]}. During learning, the puck should be at least \(0.1\)  meters away from the edge of the table (the safety constraint). We vary the value of the friction coefficient between the puck and the sliding surface between \(0.4\)  to \(0.7\)  in simulation during training. The algorithm does not have any information about the true value of the friction. The simulation is done using MuJoCo [3]}; the simulated setup is shown in Figure REF .
